WO2022266858A1 - Procédé et dispositif de détection d'angle mort - Google Patents

Procédé et dispositif de détection d'angle mort Download PDF

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Publication number
WO2022266858A1
WO2022266858A1 PCT/CN2021/101638 CN2021101638W WO2022266858A1 WO 2022266858 A1 WO2022266858 A1 WO 2022266858A1 CN 2021101638 W CN2021101638 W CN 2021101638W WO 2022266858 A1 WO2022266858 A1 WO 2022266858A1
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WIPO (PCT)
Prior art keywords
terminal
target
ring road
speed
driving
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PCT/CN2021/101638
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English (en)
Chinese (zh)
Inventor
雷国庆
陈瑞
汪洁
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华为技术有限公司
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Priority to PCT/CN2021/101638 priority Critical patent/WO2022266858A1/fr
Priority to CN202180002092.5A priority patent/CN113677585B/zh
Publication of WO2022266858A1 publication Critical patent/WO2022266858A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads

Definitions

  • the present application relates to the technical field of intelligent driving and automatic driving, and in particular to a blind spot detection method and device.
  • the island roundabout is an important traffic hub. Ensuring that vehicles around the island pass through at a relatively high speed is an important guarantee for improving the efficiency of roundabout traffic and preventing congestion.
  • the present application provides a blind spot detection method and device, which can improve the accuracy of blind spot detection in a roundabout, thereby improving the safety of vehicle driving.
  • the embodiment of the present application provides a blind spot detection method, the method may include: obtaining the first pre-travel path of the first terminal in the roundabout, the number of roundabout feature points included in the first pre-travel path, and the first pre-travel path A driving speed, the roundabout feature points include a merging point, a diverging point, and a conflict point; based on the driving direction of the first pre-travel route, the number of round-island feature points included on the first pre-travel route, and the first travel speed, A blind spot of the first terminal is determined, and the driving direction includes turning left, turning right, going straight or making a U-turn.
  • the blind spot detection method may be executed by the first terminal or a blind spot detection device in the first terminal.
  • the first terminal may be a vehicle or a smart device.
  • the first terminal may be a vehicle (such as an unmanned vehicle, a smart vehicle, an electric vehicle, a digital vehicle, etc.), a drone, a rail car, a bicycle, traffic lights etc.
  • the first terminal may be a mobile phone, a tablet computer, a notebook computer, a personal digital assistant, a sales terminal, a vehicle-mounted computer, an augmented reality device, a virtual reality, a wearable device, a vehicle-mounted terminal, and the like.
  • the blind spot detection method or device provided in this application may be applicable to detecting blind spots in the roundabout where the first terminal is located in application scenarios such as unmanned driving, automatic driving, assisted driving, intelligent driving, and connected driving. various scenes.
  • the blind spot detection method provided by the embodiment of the present application comprehensively considers the pre-travel path of the vehicle and the impact of the roundabout feature points on the maximum deceleration of the vehicle in the roundabout to determine the safe driving distance of the vehicle, which can improve the safety driving distance. Accuracy and safety, and in turn, the accuracy of blind spots determined based on this safe driving distance is increased.
  • the blind spot detection device may obtain the first pre-traveling route in various ways, which is not limited in this application.
  • the blind spot detection device may plan the first pre-traveling route based on historical driving routes.
  • the blind spot detection device may use a touch screen or a wireless communication device to obtain destination information input by the user, the destination information is used to indicate the destination of the first pre-traveling route, and based on the purpose The first pre-travel route is planned by combining the terrain information with the map data.
  • the first pre-driving route may be preset in navigation data or map data.
  • the blind spot detection device may use a wireless communication device to receive route information sent by other electronic devices, where the route information is used to indicate the first pre-traveling route; the blind spot detection device may be based on the route information The first pre-travel path is obtained.
  • the roundabout feature points may include confluence points, divergence points, and/or conflict points.
  • the merging point refers to the merging point when vehicles from different directions travel in the same direction.
  • a diversion point is a point of separation when vehicles coming from the same direction travel in different directions.
  • conflict points refer to bifurcation points when vehicles from different directions travel in different directions.
  • the blind spot detection device may obtain the number of roundabout feature points included in the first pre-traveling route in various ways, which is not limited in the present application.
  • the number of roundabout feature points included in the first pre-traveling route is based on the number of roundabouts and intersections included in the roundabout, the first pre-traveling route and the number of intersections of the first terminal.
  • a driving speed is determined.
  • the number of merging points (or the number of diverging points or the number of conflicting points) included on the driving path of the vehicle refers to the number of merging points (or the number of diverging points) existing on all lanes at all intersections that the driving path passes through. or the sum of the number of conflict points). That is to say, the number of merging points (or the number of diverging points or the number of conflict points) included on the driving path of the vehicle is determined by the number of intersections that the driving path passes and the number of merging points (or the number of merging points) that exist on all lanes at each intersection.
  • the number of diversion points or the number of conflict points) is determined by the number of merging points (or the number of diversion points or the number of conflict points) at each intersection is determined by the number of ring roads.
  • the number of merging points (or the number of diversion points or the number of conflict points) included in the driving path of the vehicle is jointly determined by the driving path, the number of intersections and the number of ring roads.
  • the blind spot detection device may obtain the number of roundabouts and the number of intersections in various ways, which are not limited in this application.
  • the blind spot detection device may use a wireless communication device to receive roundabout information sent by other terminals (such as vehicles or smart devices), where the roundabout information is used to indicate the number of roundabouts and the number of intersections, and The number of roundabouts and the number of intersections are determined based on the roundabout information.
  • the blind spot detection device may use a global positioning system to locate the first location where the first terminal is located, and obtain the number of roundabouts and the intersection from the map data based on the first location. quantity.
  • the blind spot detection device may obtain the first driving speed in various ways, which is not limited in this application.
  • the blind spot detection device may use a wireless communication device to receive speed information sent by other vehicles, and the speed information is used to indicate the first driving speed; the blind spot detection device may obtain the first driving speed based on the speed information. - travel speed.
  • the blind spot detection device may obtain the first driving speed by using radar or camera measurement.
  • safe driving distance braking distance + reaction distance.
  • the braking distance here refers to the distance traveled from the moment the vehicle (or the driver of the vehicle) steps on the brake pedal at a certain initial speed until the vehicle stops completely.
  • the length of the braking distance depends on the driving speed and maximum deceleration of the vehicle. The higher the driving speed or the smaller the maximum deceleration, the longer the braking distance.
  • the impact on the maximum deceleration of the vehicle when passing the roundabout mainly includes two parts: one part is the pre-travel path of the ego vehicle, and the other part is the roundabout feature points of the roundabout. Therefore, it is necessary to combine the above two parts to reduce the maximum deceleration, that is, determine the reduction factor of the maximum deceleration, and reduce the maximum deceleration based on the reduction factor, and finally determine the above braking distance based on the reduced maximum deceleration.
  • the reaction distance here refers to the distance traveled by the vehicle within the reaction time, wherein the reaction time refers to the period of time from when the vehicle (or the driver of the vehicle) discovers an emergency until the brake pedal is stepped on and the brake is applied.
  • the length of the reaction distance depends on the driving speed and reaction time of the vehicle. The higher the driving speed or the longer the reaction time, the longer the reaction distance.
  • the blind area of the first terminal is determined based on the driving direction of the first pre-travel route, the number of roundabout feature points included on the first pre-travel route, and the first travel speed
  • the method includes: determining the safe driving distance of the first terminal based on the driving direction, the number of roundabout feature points included on the first pre-driving route, and the first driving speed; and determining the safe driving distance of the first terminal based on the safe driving distance.
  • a safe driving area determining an area in the safe driving area except the visible area of the first terminal and overlapping with the first pre-driving path as the blind area.
  • the determining the safe driving distance of the first terminal based on the driving direction, the number of roundabout feature points included on the first pre-driving route, and the first driving speed includes: determining the The maximum deceleration of the first terminal; based on the number of roundabout feature points included on the first pre-travel route, the influence coefficient of the merging point on the maximum deceleration, the influence coefficient of the divergence point on the maximum deceleration, the conflict Point to the influence coefficient of the maximum deceleration and the influence coefficient of the driving direction on the maximum deceleration to determine the reduction factor of the maximum deceleration; based on the reduction factor, the maximum deceleration is reduced to obtain the reduced maximum deceleration ; Determine the safe driving distance based on the reduced maximum deceleration and the first driving speed.
  • determining the safe driving distance of the first terminal based on the driving direction, the number of roundabout feature points included on the first pre-driving route, and the first driving speed includes: The formula determines the safe driving distance D safe :
  • w factor w 1 (k direction +k 1 n 1 +k 2 n 2 +k 3 n 3 ),
  • D brake represents the braking distance
  • D reaction represents the reaction distance
  • a xmin represents the maximum deceleration of the first terminal
  • w factor represents the reduction factor of the maximum deceleration
  • V self represents the first driving speed
  • t reaction represents the The reaction time of the first terminal
  • k 1 represents the influence coefficient of the merging point on the maximum deceleration
  • n 1 represents the number of merging points included on the first pre-travel route
  • k 2 represents the maximum deceleration of the diverging point
  • n 2 represents the number of diversion points included on the first pre-travel route
  • k 3 represents the impact coefficient of the conflict point on the maximum deceleration
  • n 3 represents the conflicts included on the first pre-travel route
  • k direction represents the influence coefficient of the driving direction on the maximum deceleration
  • w 1 represents the weight of the total influence coefficient
  • f represents the road surface adhesion coefficient
  • F z represents the tire lateral force of the first terminal
  • i t0 represents
  • the blind spot detection device can obtain the above-mentioned impact coefficients corresponding to the roundabout feature points (including merging points, diverging points, and conflict points) and the above-mentioned driving direction corresponding influence coefficients in various ways, which is not done in the embodiment of the present application. limited.
  • the blind spot detection device may search a preset first mapping table based on the traveling direction of the first pre-traveling route, so as to determine an influence coefficient corresponding to the traveling direction of the first pre-traveling route,
  • the first mapping table includes the correspondence between at least one driving direction and the influence coefficient of each driving direction in the at least one driving direction, and the at least one driving direction includes the direction of travel.
  • the blind spot detection device may obtain the influence coefficient corresponding to the confluence point, the influence coefficient corresponding to the diversion point, and the influence coefficient corresponding to the conflict point based on a preset second mapping table, wherein, The second mapping table includes indicating the correspondence between roundabout feature points and influence coefficients.
  • the first mapping table and the second mapping table may be two independent mapping tables, or the first mapping table and the first mapping table may belong to the same mapping table, which is not covered by this application. limited.
  • the blind spot detecting device may set The area in front is determined as the safe driving area; and the area in the safe driving area except the visible area of the first terminal and overlapping with the first pre-driving path is determined as the blind area.
  • the blind spot detection method provided by the embodiment of the present application comprehensively considers the pre-travel path of the vehicle and the impact of the roundabout feature points on the maximum deceleration of the vehicle in the roundabout to determine the safe driving distance of the vehicle, which can improve the safety driving distance. Accuracy and safety, and in turn, the accuracy of blind spots determined based on this safe driving distance is increased.
  • the method further includes: the blind spot detecting device determines terminal information of a target terminal existing in the blind spot, where the terminal information includes a target driving speed and a target terminal of the target terminal. distance, the target distance is the distance between the target terminal and the second boundary of the blind zone, and the second boundary is the boundary of the blind zone away from the target terminal in the direction of the first pre-travel path; based on the terminal information, A danger alarm is issued to the first terminal.
  • a terminal that satisfies the following conditions around the first terminal may be determined as the at least one second terminal: (1) a terminal whose distance from the first terminal is less than or equal to a preset first distance threshold; (2) A terminal located on a different ring road from the first terminal; (3) a terminal whose similarity between the pre-travel route and the first pre-travel route is greater than a first similarity threshold.
  • the determining the terminal information of the target terminal existing in the blind area includes: obtaining the second driving speed of at least one second terminal located on a different ring road from the first terminal, wherein the at least The distance between a second terminal and the first terminal is less than or equal to a preset first distance threshold, and the similarity between the pre-travel route of the at least one second terminal and the first pre-travel route is greater than the first similarity Threshold: determining the target driving speed based on the second driving speed of the at least one second terminal and the first driving speed.
  • the determining the target driving speed based on the second driving speed of the at least one second terminal and the first driving speed includes: determining the target driving speed V target by the following formula:
  • min(a, b) means to find the minimum value of a and b
  • V self means the first driving speed
  • w self means the weight of the first terminal
  • n 1 means the content of the at least one second terminal
  • the quantity of ring road terminal, V in represents the second travel speed of this inner ring road terminal, win represents the weight of this inner ring road terminal
  • n 2 represents the quantity of the outer ring road terminal in this at least one second terminal
  • V out represents the second travel speed of the outer ring road terminal
  • w out represents the weight of the outer ring road terminal
  • V rode represents the maximum speed limit of the roundabout
  • the inner ring road terminal includes the at least one terminal located at the second A second terminal of the inner ring road of the ring road where the terminal is located
  • the outer ring road terminal includes the second terminal of the at least one terminal located on the outer ring road of the ring road where the first terminal is located.
  • the blind spot detection method provided by the present application considers the second driving speed of at least one second terminal when determining the target driving speed of the target terminal, which can improve the accuracy of the target driving speed.
  • the target distance is the distance between the target terminal and the second boundary of the blind zone when the target terminal is located at the first boundary of the blind zone, where the first boundary is the distance between the blind zone and the The border between the visible regions.
  • the method further includes: obtaining a reference driving speed of a reference terminal at the first merging point;
  • the second driving speed of the at least one second terminal and the first driving speed, and determining the target driving speed includes: based on the second driving speed of the at least one second terminal, the first driving speed and the reference driving speed, Determine the target travel speed.
  • the determining the target driving speed based on the second driving speed of the at least one second terminal, the first driving speed and the reference driving speed includes: determining the target driving speed by the following formula V target :
  • min(a, b) means to find the minimum value of a and b
  • V self means the first driving speed
  • w self means the weight of the first terminal
  • n 1 means the content of the at least one second terminal
  • the quantity of ring road terminal, V in represents the second travel speed of this inner ring road terminal, win represents the weight of this inner ring road terminal
  • n 2 represents the quantity of the outer ring road terminal in this at least one second terminal
  • V out represents the second driving speed of the outer ring road terminal
  • w out represents the weight of the outer ring road terminal
  • V ref represents the reference driving speed
  • w ref represents the weight of the reference terminal
  • V rode represents the maximum speed limit of the roundabout
  • the inner ring road terminal includes the second terminal of the at least one terminal located in the inner ring road of the ring road where the first terminal is located
  • the outer ring road terminal includes the at least one terminal located in the ring road where the first terminal is located
  • the blind spot detection method provided by the present application when determining the target driving speed of the target terminal, in addition to considering the second driving speed of at least one second terminal, it also takes into account the reference driving speed of the reference terminal, which can Further improves the accuracy of the target travel speed.
  • the determining the terminal information of the target terminal existing in the blind area includes: determining the target distance D tar by the following formula:
  • D 1-ref represents the first distance between the first terminal and the reference terminal
  • D tar-ref represents the safe vehicle distance between the target terminal and the reference terminal
  • D sensor represents the distance between the first boundary and the second A distance between terminals
  • D min represents the distance between the second boundary and the first terminal
  • V target represents the target driving speed
  • V cross represents the reference driving speed
  • THW represents the preset following time
  • TTC represents a preset time to collision
  • the method further includes: obtaining a third driving speed of the third terminal at the first moment; determining the target driving speed based on the second driving speed of the at least one second terminal and the first driving speed, The method includes: determining the target driving speed based on the second driving speed of the at least one second terminal, the first driving speed, the third driving speed and the first moment.
  • the determining the target driving speed based on the second driving speed of the at least one second terminal, the first driving speed, the third driving speed and the first moment includes: The formula determines the target travel speed V target :
  • min(a, b) means to find the minimum value of a and b
  • V self means the first driving speed
  • w self means the weight of the first terminal
  • n 1 means the content of the at least one second terminal
  • the quantity of ring road terminal, V in represents the second travel speed of this inner ring road terminal, win represents the weight of this inner ring road terminal
  • n 2 represents the quantity of the outer ring road terminal in this at least one second terminal
  • V out represents the second driving speed of the outer ring road terminal
  • w out represents the weight of the outer ring road terminal
  • V pre represents the third driving speed
  • w pre represents the weight of the third terminal
  • V rode represents the maximum Speed limit
  • the target driving speed of the target terminal when determining the target driving speed of the target terminal, in addition to considering the second driving speed of at least one second terminal, it also takes into account the third terminal that the target terminal has historically paid attention to.
  • the third driving speed when leaving the visible area of the first terminal can further improve the accuracy of the target driving speed.
  • the method further includes: obtaining a reference driving speed of a reference terminal at the first merging point; Determining the target driving speed based on the second driving speed of the at least one second terminal, the first driving speed, the third driving speed and the first moment includes: based on the second driving speed of the at least one second terminal, The first driving speed, the third driving speed, the first moment and the reference driving speed determine the target driving speed.
  • the target driving speed is determined based on the second driving speed of the at least one second terminal, the first driving speed, the third driving speed, the first moment and the reference driving speed , including: determining the target driving speed V target by the following formula:
  • min(a, b) means to find the minimum value of a and b
  • V self means the first driving speed
  • w self means the weight of the first terminal
  • n 1 means the content of the at least one second terminal
  • the quantity of ring road terminal, V in represents the second travel speed of this inner ring road terminal, win represents the weight of this inner ring road terminal
  • n 2 represents the quantity of the outer ring road terminal in this at least one second terminal
  • V out represents the second travel speed of the outer ring road terminal
  • w out represents the weight of the outer ring road terminal
  • V ref represents the reference travel speed
  • w ref represents the weight of the reference terminal
  • V pre represents the third travel speed
  • W pre represents the weight of the third terminal
  • V rode represents the maximum speed limit of the roundabout
  • the inner ring road terminal includes the second terminal of the at least one terminal located on the inner ring road of the ring road where the first terminal is located
  • the outer ring road terminal includes the second terminal of the at least one terminal located
  • the blind spot detection method provided by the present application takes into account the second driving speed of at least one second terminal, the reference driving speed of the reference terminal, and the third driving speed of the third terminal.
  • the driving speed can further improve the accuracy of the target driving speed.
  • the determining the terminal information of the target terminal existing in the blind area includes: determining the target distance D tar by the following formula:
  • D 3 represents the third distance between the first boundary of the blind zone and the second boundary
  • D 2 represents the second distance between the target terminal and the first boundary
  • t now represents the current moment
  • t miss represents At the first moment
  • V pre represents the third driving speed, wherein the first boundary is the boundary between the blind area and the visible area.
  • the danger warning to the first terminal based on the terminal information includes: determining the second boundary based on the distance between the second boundary and the first terminal and the first driving speed. The first duration for a terminal to leave the blind zone; based on the target distance and the target driving speed, determine the second duration for the target terminal to leave the blind zone; if the time difference between the first duration and the second duration is less than the preset If the safety time threshold is exceeded, a danger alarm is issued to the first terminal.
  • the present application also provides a blind spot detection device, which may include:
  • the obtaining unit is used to obtain the first pre-travel route of the first terminal in the roundabout, the number of roundabout feature points included on the first pre-travel route, and the first travel speed.
  • the roundabout feature points include merging points, diverging points and point of conflict;
  • a determining unit configured to determine the blind area of the first terminal based on the driving direction of the first pre-traveling route, the number of roundabout feature points included on the first pre-traveling route, and the first driving speed, the driving direction including the left Turn, turn right, go straight or make a U-turn.
  • the number of roundabout feature points included in the first pre-traveling route is based on the number of roundabouts and intersections included in the roundabout, the first pre-traveling route and the number of intersections of the first terminal.
  • a driving speed is determined.
  • the determining unit is specifically configured to: determine the safe driving of the first terminal based on the driving direction, the number of roundabout feature points included on the first pre-driving route, and the first driving speed distance; based on the safe driving distance, determine the safe driving area of the first terminal; determine the area in the safe driving area that overlaps with the first pre-traveling path except the visible area of the first terminal as the blind spot.
  • the determining unit is specifically configured to: determine the maximum deceleration of the first terminal; The influence coefficient of the diverging point, the influence coefficient of the diverging point on the maximum deceleration, the influence coefficient of the conflict point on the maximum deceleration and the influence coefficient of the driving direction on the maximum deceleration determine the reduction factor of the maximum deceleration; based on The reduction factor reduces the maximum deceleration to obtain a reduced maximum deceleration; based on the reduced maximum deceleration and the first driving speed, the safe driving distance is determined.
  • the determining unit is specifically configured to: determine the safe driving distance D safe by the following formula:
  • D brake represents the braking distance
  • D reaction represents the reaction distance
  • a xmin represents the maximum deceleration of the first terminal
  • w factor represents the reduction factor of the maximum deceleration
  • V self represents the first driving speed
  • t reaction represents the The reaction time of the first terminal
  • k 1 represents the influence coefficient of the merging point on the maximum deceleration
  • n 1 represents the number of merging points included on the first pre-travel route
  • k 2 represents the maximum deceleration of the diverging point
  • n 2 represents the number of diversion points included on the first pre-travel route
  • k 3 represents the impact coefficient of the conflict point on the maximum deceleration
  • n 3 represents the conflicts included on the first pre-travel route
  • k direction represents the influence coefficient of the driving direction on the maximum deceleration
  • w 1 represents the weight of the total influence coefficient
  • f represents the road surface adhesion coefficient
  • F z represents the tire lateral force of the first terminal
  • i t0 represents
  • the device further includes an alarm unit; the determining unit is further configured to determine terminal information of a target terminal existing in the blind spot, where the terminal information includes a target driving speed and a target distance of the target terminal, the The target distance is the distance between the target terminal and the second boundary of the blind zone, and the second boundary is the boundary of the blind zone away from the target terminal in the direction of the first pre-travel path; the alarm unit is used to information, to issue a danger alarm to the first terminal.
  • the obtaining unit is further configured to obtain the second driving speed of at least one second terminal located on a different ring road from the first terminal, wherein the at least one second terminal is different from the first terminal The distance between them is less than or equal to a preset first distance threshold, and the similarity between the pre-travel route of the at least one second terminal and the first pre-travel route is greater than the first similarity threshold; the determining unit is specifically configured to The target driving speed is determined by the second driving speed of the at least one second terminal and the first driving speed.
  • the determining unit is specifically configured to: determine the target driving speed V target by the following formula:
  • min(a, b) means to find the minimum value of a and b
  • V self means the first driving speed
  • w self means the weight of the first terminal
  • n 1 means the content of the at least one second terminal
  • the quantity of ring road terminal, V in represents the second travel speed of this inner ring road terminal, win represents the weight of this inner ring road terminal
  • n 2 represents the quantity of the outer ring road terminal in this at least one second terminal
  • V out represents the second travel speed of the outer ring road terminal
  • w out represents the weight of the outer ring road terminal
  • V rode represents the maximum speed limit of the roundabout
  • the inner ring road terminal includes the at least one terminal located at the second A second terminal of the inner ring road of the ring road where the terminal is located
  • the outer ring road terminal includes the second terminal of the at least one terminal located on the outer ring road of the ring road where the first terminal is located.
  • the target distance is the distance between the target terminal and the second boundary of the blind zone when the target terminal is located at the first boundary of the blind zone, where the first boundary is the distance between the blind zone and the The border between the visible regions.
  • the obtaining unit is further configured to obtain a reference travel speed of a reference terminal at the first merging point; the The determining unit is specifically configured to determine the target driving speed based on the second driving speed of the at least one second terminal, the first driving speed and the reference driving speed.
  • the determining unit is specifically configured to: determine the target driving speed V target by the following formula:
  • min(a, b) means to find the minimum value of a and b
  • V self means the first driving speed
  • w self means the weight of the first terminal
  • n 1 means the content of the at least one second terminal
  • the quantity of ring road terminal, V in represents the second travel speed of this inner ring road terminal, win represents the weight of this inner ring road terminal
  • n 2 represents the quantity of the outer ring road terminal in this at least one second terminal
  • V out represents the second driving speed of the outer ring road terminal
  • w out represents the weight of the outer ring road terminal
  • V ref represents the reference driving speed
  • w ref represents the weight of the reference terminal
  • V rode represents the maximum speed limit of the roundabout
  • the inner ring road terminal includes the second terminal of the at least one terminal located in the inner ring road of the ring road where the first terminal is located
  • the outer ring road terminal includes the at least one terminal located in the ring road where the first terminal is located
  • the determination unit is also used to: determine the target distance D tar by the following formula:
  • D 1-ref represents the first distance between the first terminal and the reference terminal
  • D tar-ref represents the safe vehicle distance between the target terminal and the reference terminal
  • D sensor represents the distance between the first boundary and the second A distance between terminals
  • D min represents the distance between the second boundary and the first terminal
  • V target represents the target driving speed
  • V cross represents the reference driving speed
  • THW represents the preset following time
  • TTC represents a preset time to collision
  • the obtaining unit is further configured to obtain a third driving speed of the third terminal at the first moment; the determining unit is specifically configured to based on the second driving speed of the at least one second terminal, the first driving speed, The third driving speed and the first moment determine the target driving speed.
  • the determining unit is specifically configured to: include: determining the target driving speed V target by the following formula:
  • min(a, b) means to find the minimum value of a and b
  • V self means the first driving speed
  • w self means the weight of the first terminal
  • n 1 means the content of the at least one second terminal
  • the quantity of ring road terminal, V in represents the second travel speed of this inner ring road terminal, win represents the weight of this inner ring road terminal
  • n 2 represents the quantity of the outer ring road terminal in this at least one second terminal
  • V out represents the second driving speed of the outer ring road terminal
  • w out represents the weight of the outer ring road terminal
  • V pre represents the third driving speed
  • w pre represents the weight of the third terminal
  • V rode represents the maximum Speed limit
  • the obtaining unit is further configured to obtain a reference travel speed of a reference terminal at the first merging point; the The determining unit is further configured to determine the target traveling speed based on the second traveling speed of the at least one second terminal, the first traveling speed, the third traveling speed, the first moment and the reference traveling speed.
  • the determining unit is specifically configured to: determine the target driving speed V target by the following formula:
  • min(a, b) means to find the minimum value of a and b
  • V self means the first driving speed
  • w self means the weight of the first terminal
  • n 1 means the content of the at least one second terminal
  • the quantity of ring road terminal, V in represents the second travel speed of this inner ring road terminal, win represents the weight of this inner ring road terminal
  • n 2 represents the quantity of the outer ring road terminal in this at least one second terminal
  • V out represents the second travel speed of the outer ring road terminal
  • w out represents the weight of the outer ring road terminal
  • V ref represents the reference travel speed
  • w ref represents the weight of the reference terminal
  • V pre represents the third travel speed
  • W pre represents the weight of the third terminal
  • V rode represents the maximum speed limit of the roundabout
  • the inner ring road terminal includes the second terminal of the at least one terminal located on the inner ring road of the ring road where the first terminal is located
  • the outer ring road terminal includes the second terminal of the at least one terminal located
  • the determination unit is specifically configured to: determine the target distance D tar by the following formula:
  • D 3 represents the third distance between the first boundary of the blind zone and the second boundary
  • D 2 represents the second distance between the target terminal and the first boundary
  • t now represents the current moment
  • t miss represents At the first moment
  • V pre represents the third driving speed, wherein the first boundary is the boundary between the blind area and the visible area.
  • the warning unit is specifically configured to: determine a first duration for the first terminal to leave the blind zone based on the distance between the second boundary and the first terminal and the first driving speed ; Based on the target distance and the target driving speed, determine the second duration for the target terminal to leave the blind zone; if the time difference between the first duration and the second duration is less than the preset safety time threshold, then the first terminal Hazard warning.
  • the present application also provides a blind spot detection device, including a memory and a processor, the memory stores computer program instructions, and the processor runs the computer program instructions to perform the above-mentioned first aspect and any possible implementation thereof. described method.
  • the blind spot detection device may be a chip device or an integrated circuit.
  • the present application further provides a terminal, including the blind spot detection device described in the above second aspect or any possible implementation thereof; or including the blind spot detection device described in the above third aspect.
  • the terminal may be a vehicle, for example, the vehicle may be a smart car or an unmanned car.
  • the present application further provides a computer-readable storage medium for storing a computer program, and when the computer program is run by a processor, implements the method described in the above-mentioned first aspect and any possible implementation manner thereof.
  • the present application further provides a computer program product.
  • the computer program product runs on a processor, it implements the method described in the first aspect and any possible implementation manners thereof.
  • the blind spot detection device, computer-readable storage medium, computer program product or chip provided in the embodiments of the present application are all used to execute the corresponding method provided above, therefore, the beneficial effects it can achieve can refer to the above-mentioned The beneficial effects of the corresponding method will not be repeated here.
  • Fig. 1 is a schematic diagram of a roundabout provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of another roundabout provided by the embodiment of the present application.
  • Fig. 3 is a schematic diagram of another roundabout provided by the embodiment of the present application.
  • Fig. 4 is a schematic diagram of another roundabout provided by the embodiment of the present application.
  • FIG. 5 is a schematic diagram of an application scenario provided by an embodiment of the present application.
  • FIG. 6 is a schematic flowchart of a blind spot detection method 200 provided in an embodiment of the present application.
  • Fig. 7 is a schematic diagram of another roundabout provided by the embodiment of the present application.
  • Fig. 8 is a schematic diagram of another roundabout provided by the embodiment of the present application.
  • Fig. 9 is a schematic diagram of another roundabout provided by the embodiment of the present application.
  • Fig. 10 is a schematic block diagram of a blind spot detection device 300 provided by an embodiment of the present application.
  • the ring road is a circular lane, and the number of ring roads determines the maximum number of vehicles that can run in parallel in the roundabout.
  • FIG. 1 shows a schematic diagram of a roundabout provided by the embodiment of the present application.
  • the roundabout includes four roundabouts, namely roundabout 1 , roundabout 2 , roundabout 3 and roundabout 4 .
  • this roundabout up to 4 vehicles can drive in parallel on 4 roundabouts.
  • Vehicles can drive into or out of the roundabout from the intersection. After entering the roundabout, the vehicle will drive in the same direction in the roundabout, and the driving path of the vehicle in the roundabout will be determined by driving out of the roundabout from different intersections.
  • the roundabout includes four intersections, that is, intersection 1 , intersection 2 , intersection 3 and intersection 4 . Vehicles can enter or exit the roundabout through each intersection.
  • the direction of travel of the vehicle after the vehicle passes the roundabout can be determined by the intersection of entering the roundabout and the intersection of exiting the roundabout.
  • a merging point is a point where vehicles from different directions meet when they travel in the same direction.
  • FIG. 2 shows another schematic diagram of a roundabout provided by the embodiment of the present application.
  • the roundabout includes a roundabout 1 and a roundabout 2, and the vehicle 1 merges into the roundabout from the intersection 1 along the driving path 1.
  • the vehicle 2 merges into the ring road 1 of the roundabout from the intersection 4 along the driving path 4, and the driving path 1 and the driving path 4 converge at the confluence point 1 on the ring road 1 at the intersection 1, and then the vehicle 1 Both vehicle 2 and vehicle 2 continue to drive along the merge path 1, and drive out of the roundabout from the intersection 3; similarly, vehicle 3 merges into the ring road 2 of the roundabout from the intersection 4 along the driving path 2, and the vehicle 4 travels along the driving path 3 by The intersection 1 merges into the ring road 2 of the roundabout, and the driving path 2 and the driving path 3 converge at the confluence point 2 on the ring road 2 at the intersection 1, and then both the vehicle 3 and the vehicle 4 continue to drive along the merging path 2, and Exit the roundabout at Junction 2.
  • Figure 2 only exemplarily introduces the confluence points that may exist on each ring road at the intersection 1, but the present application is not limited thereto, and there may also be respective confluence points at other intersections, which will not be repeated here. .
  • a diversion point is a point of separation when vehicles coming from the same direction travel in different directions.
  • FIG. 3 shows another schematic diagram of a roundabout provided by the embodiment of the present application.
  • the roundabout includes a roundabout 1 and a roundabout 2.
  • Vehicle 1 and vehicle 2 converge at an intersection 3 along the driving path 1.
  • the driving path 1 separates at the diversion point 1 on the roundabout 2 at the intersection 1, and then the vehicle 1 continues to drive along the diversion path 1, and drives out of the roundabout from the intersection 1, and the vehicle 2 continues Drive along the diversion path 2, and drive out of the roundabout from the intersection 2; similarly, vehicles 3 and 4 merge into the roundabout 1 from the intersection 2 along the driving path 2, and the driving path 2 is at the intersection 1.
  • the diversion point 2 on the ring road 1 separates, and then the vehicle 3 continues to drive along the diversion track 3, and exits the roundabout from the intersection 1, and the vehicle 4 continues to drive along the diversion track 4, and exits the roundabout from the intersection 2.
  • Figure 3 only exemplarily introduces the diversion points that may exist on each ring road at the intersection 1, but the present application is not limited thereto, and there may also be respective diversion points at other intersections, which will not be repeated here. .
  • FIG. 4 shows another schematic diagram of a roundabout provided by the embodiment of the present application.
  • the roundabout includes a roundabout 1 and a roundabout 2, and the vehicle 1 enters the roundabout from the intersection 4 along the driving path 1
  • the vehicle 2 enters the ring road 1 of the roundabout from the intersection 3 along the driving path 2, and the driving path 1 and the driving path 2 intersect at the conflict point on the ring road 2 at the intersection 1, and then the vehicle 1 continues Drive along the driving path 1, and drive out of the roundabout through the intersection 2, and the vehicle 2 continues to drive along the driving path 2, and drive out of the roundabout through the intersection 1.
  • FIG. 4 only exemplarily introduces the conflict points that may exist at the intersection 1, but the present application is not limited thereto, and other intersections may also have their own conflict points, which will not be repeated here.
  • the number of merging points (or the number of diverging points or the number of conflicting points) included on the driving path of the vehicle refers to the number of merging points (or the number of diverging points) existing on all lanes at all intersections that the driving path passes through. or the sum of the number of conflict points). That is to say, the number of merging points (or the number of diverging points or the number of conflict points) included on the driving path of the vehicle is determined by the number of intersections that the driving path passes and the number of merging points (or the number of merging points) that exist on all lanes at each intersection.
  • the number of diversion points or the number of conflict points) is determined by the number of merging points (or the number of diversion points or the number of conflict points) at each intersection is determined by the number of ring roads.
  • the number of merging points (or the number of diversion points or the number of conflict points) included in the driving path of the vehicle is jointly determined by the driving path, the number of intersections and the number of ring roads.
  • the roundabout only includes roundabout 1, there may be a confluence point 1 at the intersection 1; similarly, if the roundabout includes both roundabout 1 and roundabout 2, then there may be a junction 1 at the intersection. Junction 1 and Junction 2.
  • the number of merging points at other intersections also has a similar relationship with the number of ring roads.
  • the number of merging points included on driving route 1 includes the merging points at intersection 1 that driving route 1 passes through; the number of merging points included on driving route 2 includes the intersections that driving route 2 passes through and the intersections that exist at The sum of the number of merging points; the number of merging points included in the driving route 3 includes the sum of the number of merging points at the intersection 1 and 2 that the driving route 3 passes through; the number of merging points included in the driving route 4 includes the driving route 4 The sum of the number of junctions that exist at Junction 4, Junction 1 and Junction 2 passed.
  • the sensing range of the sensor is limited or the curve blocks the sensing range of the vehicle
  • the blind spot of the vehicle may be generated, and the existence of the blind spot will cause a great safety hazard to the driving of the vehicle. Therefore, The driving safety of the vehicle may be threatened.
  • the embodiments of the present application provide a blind spot detection method and device, which comprehensively consider the impact of the pre-traveling path of the vehicle and the roundabout feature points of the roundabout on the maximum deceleration of the vehicle in the roundabout, and determine the safe driving distance of the terminal, which can Improve the accuracy of the safe driving distance, thereby improving the accuracy of the blind spot range determined based on the safe driving distance.
  • the blind spot detection method provided in this application may be used in a terminal.
  • the terminal may be a vehicle or a smart device, for example, the terminal may be a vehicle (such as an unmanned vehicle, a smart vehicle, an electric vehicle, a digital vehicle, etc.), a drone, a rail car, a bicycle, a traffic light, etc.
  • the terminal can be a mobile phone, a tablet computer, a notebook computer, a personal digital assistant, a sales terminal, a vehicle-mounted computer, an augmented reality device, a virtual reality, a wearable device, a vehicle-mounted terminal, and the like.
  • the blind spot detection method or device provided in this application may be applicable to application scenarios in which blind spots of terminals in roundabouts are detected in scenarios such as unmanned driving, automatic driving, assisted driving, intelligent driving, and connected driving.
  • FIG. 5 shows a schematic diagram of an application scenario provided by this application.
  • the vehicle 100 is driving on the roundabout, and the vehicle 100 can detect the blind spots in the roundabout through the blind spot detection method provided by the present application, thereby improving driving safety.
  • the aforementioned vehicle 100 may include a blind spot detection device 110 .
  • the blind spot detection device 110 is used to obtain the first pre-travel path of the vehicle 100 in the roundabout, the number of roundabout feature points included on the first pre-travel path, and the first driving speed. points and conflict points; based on the driving direction of the first pre-traveling route, the number of roundabout feature points included on the first pre-traveling route and the first driving speed, determine the blind spot of the vehicle 100, the driving direction includes turning left , turn right, go straight or make a U-turn.
  • the above steps are described in detail below.
  • the vehicle 100 may also include a radar 120, a visual sensor 130, a communication device 140, a display screen 150, and/or a global positioning system 160, for assisting the vehicle 100 in obtaining the above-mentioned first pre-travel path, the above-mentioned roundabout feature points
  • a radar 120 for assisting the vehicle 100 in obtaining the above-mentioned first pre-travel path, the above-mentioned roundabout feature points
  • a radar 120 for assisting the vehicle 100 in obtaining the above-mentioned first pre-travel path, the above-mentioned roundabout feature points
  • a global positioning system 160 for assisting the vehicle 100 in obtaining the above-mentioned first pre-travel path, the above-mentioned roundabout feature points
  • the number and the above-mentioned first driving speed are not limited in this application.
  • the radar 120 may include a millimeter-wave radar, a lidar, and/or an ultrasonic radar, for use in the detection area of the radar 120 (such as the area in front of the vehicle 100 between the two arrows at the radar 120 in FIG. 5 ) Sensing target objects around the vehicle 100 , such as sensing distances, speeds, and/or angles of other surrounding vehicles relative to the vehicle 100 .
  • the camera 130 may include a static camera and/or a video camera, etc., for capturing the vehicle 100 within the visual range of the camera 130 (as shown in the area between the two arrows at the camera 130 in FIG. 5 , which is located in front of the vehicle 100 ). surrounding environment images.
  • the communication device 140 is used for the vehicle 100 to interact with other components or other vehicles.
  • the vehicle 100 can communicate with other vehicles through the communication device 140 using a wireless communication network.
  • the display screen 150 may be a touch display screen for the vehicle 100 to interact with the user.
  • the vehicle 100 can obtain information input by the user through the touch display screen, or the vehicle 100 can present a display interface (such as navigation data) to the user through the display screen 150 .
  • a display interface such as navigation data
  • a global positioning system (GPS) 160 is any sensor used to estimate the geographic location of the vehicle 100 .
  • the GPS 160 may include a transceiver to estimate the position of the vehicle 100 relative to the earth based on satellite positioning data.
  • Components of vehicle 100 may be configured to function in an interconnected manner with other components within and/or external to their respective systems. To this end, the components and systems of the vehicle 100 may be connected together through a system bus, a network, and/or other connection mechanisms, which are not limited in the present application.
  • the foregoing components may be independent devices, or one or more of the foregoing components may be integrated into one device, which is not limited in the present application.
  • FIG. 5 only schematically shows the positions and quantities of the above-mentioned components, and the present application is not limited thereto.
  • the vehicle 100 may also include other components not shown in FIG. 5 , which is not limited in this application.
  • FIG. 6 shows a schematic flowchart of a blind spot detection method 200 provided by an embodiment of the present application. As shown in FIG. 6 , the method 200 may be executed by the first terminal or a blind spot detection apparatus in the first terminal. The method 200 may include the following steps.
  • the roundabout feature points include merge points, diverge points, and conflict points.
  • the first terminal may be a vehicle.
  • the blind spot detection device can obtain the first pre-travel route in various ways, which is not limited in this application.
  • the blind spot detection device may plan the first pre-driving route based on historical driving routes.
  • the blind spot detection device may use a touch screen or a wireless communication device to obtain destination information input by the user, the destination information is used to indicate the destination of the first pre-traveling route, and based on the purpose The first pre-travel route is planned by combining the terrain information with the map data.
  • the first pre-driving route may be preset in navigation data or map data.
  • the blind spot detection device may use a wireless communication device to receive route information sent by other electronic devices, where the route information is used to indicate the first pre-traveling route; the blind spot detection device may be based on the route information The first pre-travel path is obtained.
  • the blind spot detection device may obtain the first driving speed in various ways, which is not limited in this application.
  • the blind spot detection device may use a wireless communication device to receive speed information sent by other vehicles, and the speed information is used to indicate the first driving speed; the blind spot detection device may obtain the first driving speed based on the speed information. - travel speed.
  • the blind spot detection device may measure the first driving speed by using a radar or a camera.
  • the blind spot detection device may obtain the number of roundabout feature points included in the first pre-traveling route in various ways, which is not limited in the present application.
  • the blind spot detection device can obtain the number of roundabouts and the number of intersections included in the roundabout where the first terminal is located; based on the first pre-traveling route, the number of roundabouts, and the number of intersections, determine The number of roundabout feature points included on the first pre-travel route.
  • the blind spot detection device can obtain the number of roundabouts and the number of intersections included in the roundabout where the first terminal is located; based on the first pre-traveling route, the number of roundabouts, and the number of intersections, determine The number of roundabout feature points included on the first pre-travel route.
  • the blind spot detection device may obtain the number of roundabouts and the number of intersections in various ways, which are not limited in this application.
  • the blind spot detection device may use a wireless communication device to receive roundabout information sent by other terminals (such as vehicles or smart devices), where the roundabout information is used to indicate the number of roundabouts and the number of intersections, and The number of roundabouts and the number of intersections are determined based on the roundabout information.
  • the blind spot detection device may use GPS to locate the current first location of the first terminal, and obtain the number of roundabouts and the number of intersections in the map data based on the first location.
  • the driving direction includes turning left, turning right Turn, go straight or make a U-turn.
  • the blind spot detection device may determine the safe driving distance of the first terminal based on the driving direction of the first preliminary driving route, the number of roundabout feature points included on the first preliminary driving route, and the first driving speed; Based on the safe driving distance, determine the safe driving area of the first terminal; determine the area in the safe driving area that overlaps with the first pre-traveling path except the visible area of the first terminal as the blind area .
  • safe driving distance braking distance + reaction distance.
  • the braking distance here refers to the distance traveled from the moment the vehicle (or the driver of the vehicle) steps on the brake pedal at a certain initial speed until the vehicle comes to a complete stop.
  • the length of the braking distance depends on the driving speed and maximum deceleration of the vehicle. The higher the driving speed or the smaller the maximum deceleration, the longer the braking distance.
  • the impact on the maximum deceleration of the vehicle when passing the roundabout mainly includes two parts: one part is the pre-travel path of the ego vehicle, and the other part is the roundabout feature points of the roundabout. Therefore, it is necessary to combine the above two parts to reduce the maximum deceleration, that is, determine the reduction factor of the maximum deceleration, and reduce the maximum deceleration based on the reduction factor, and finally determine the above braking distance based on the reduced maximum deceleration.
  • the reaction distance here refers to the distance traveled by the vehicle within the reaction time, wherein the reaction time refers to the period of time from when the vehicle (or the driver of the vehicle) discovers an emergency until the brake pedal is stepped on and the brake is applied.
  • the length of the reaction distance depends on the driving speed and reaction time of the vehicle. The higher the driving speed or the longer the reaction time, the longer the reaction distance.
  • determining the safe driving distance of the first terminal based on the driving direction, the number of roundabout feature points included on the first pre-driving route, and the first driving speed may include the following steps :
  • the blind spot detection device determines the maximum deceleration of the first terminal; based on the number of roundabout feature points included on the first pre-travel route, the influence coefficient of the merging point on the maximum deceleration, the maximum deceleration of the diverging point
  • the influence coefficient of speed, the influence coefficient of the conflict point on the maximum deceleration and the influence coefficient of the driving direction on the maximum deceleration determine the reduction factor of the maximum deceleration; the maximum deceleration is reduced based on the reduction factor, Obtaining the reduced maximum deceleration; based on the reduced maximum deceleration and the first driving speed, determining the braking distance of the first terminal; based on the first driving speed and the reaction time of the first terminal, determining the first A terminal reaction distance; based on the braking distance and the reaction distance,
  • f represents the road surface adhesion coefficient
  • F z represents the tire lateral force of the first terminal
  • it0 represents the tire coefficient
  • F y represents the tire vertical load of the first terminal
  • g represents the gravitational acceleration.
  • the reduction factor w factor of the above maximum deceleration can be obtained by the following formula (2):
  • k 1 represents the influence coefficient of the merging point on the maximum deceleration
  • n 1 represents the number of merging points included on the first pre-travel route
  • k 2 represents the influence coefficient of the diverging point on the maximum deceleration
  • n 2 represents the number of diversion points included on the first pre-travel route
  • k 3 represents the impact coefficient of the conflict point on the maximum deceleration
  • n 3 represents the number of conflict points included on the first pre-travel route
  • k direction represents the influence coefficient of the driving direction on the maximum deceleration
  • w 1 represents the weight of the total influence coefficient.
  • the above braking distance Dbrake can be obtained by the following formula (3):
  • w factor represents the reduction factor
  • a xmin represents the maximum deceleration
  • V self represents the first driving speed
  • reaction distance D reaction can be obtained by the following formula (4):
  • V self represents the first driving speed
  • t reaction represents the reaction time of the first terminal
  • the above safe driving distance D safe can be obtained by the following formula (5):
  • the blind spot detection device can obtain the above-mentioned impact coefficients corresponding to the roundabout feature points (including merging points, diverging points, and conflict points) and the above-mentioned driving direction corresponding influence coefficients in various ways, which is not done in the embodiment of the present application. limited.
  • the blind spot detection device may search a preset first mapping table based on the traveling direction of the first pre-traveling route, so as to determine an influence coefficient corresponding to the traveling direction of the first pre-traveling route,
  • the first mapping table includes the correspondence between at least one driving direction and the influence coefficient of each driving direction in the at least one driving direction, and the at least one driving direction includes the direction of travel.
  • the blind spot detection device may obtain the influence coefficient corresponding to the confluence point, the influence coefficient corresponding to the diversion point, and the influence coefficient corresponding to the conflict point based on a preset second mapping table, wherein, The second mapping table includes indicating the correspondence between roundabout feature points and influence coefficients.
  • the first mapping table and the second mapping table may be two independent mapping tables, or the first mapping table and the first mapping table may belong to the same mapping table, which is not covered by this application. limited.
  • the blind spot detecting device may set The area in front is determined as the safe driving area; and the area in the safe driving area except the visible area of the first terminal and overlapping with the first pre-driving path is determined as the blind area.
  • FIG. 7 shows another schematic diagram of a roundabout provided by the embodiment of the present application.
  • the blind spot detection device can use the center of the head of the first terminal as the center and the safe driving distance as the radius of the circle
  • the area in front of the first terminal in the rectangular area is determined as the safe driving area (as shown in Figure 7 shown); and remove the visible area of the first terminal in the safe driving area (as shown in Fig. 7 shown) and overlapping with the first pre-traveling route (entering the roundabout from the intersection 3 and exiting the roundabout from the intersection 2) is determined as the blind area (as shown in Figure 7 shown).
  • the blind spot detection method provided by the embodiment of the present application comprehensively considers the pre-travel path of the vehicle and the impact of the roundabout feature points on the maximum deceleration of the vehicle in the roundabout to determine the safe driving distance of the vehicle, which can improve the safety driving distance. Accuracy and safety, and in turn, the accuracy of blind spots determined based on this safe driving distance is increased.
  • the method may further include: the blind area detection device determines terminal information of a target terminal existing in the blind area, and the terminal information includes the target driving distance of the target terminal Speed and target distance, the target distance is the distance between the target terminal and the second boundary of the blind zone, and the second boundary is the boundary of the blind zone away from the target terminal in the direction of the first pre-traveling path; based on the Terminal information, performing a danger alarm on the first terminal.
  • this application proposes the assumption that the roundabout scene meets the intersection point of the roundabout (assumption 1 below) and the target terminal The assumption of similarity (that is, the second assumption below), and based on the above two assumptions, further estimate the terminal information of the target terminal that may exist in the blind area.
  • Hypothesis 1 Hypothesis 1 and Hypothesis 2 are the assumptions of the confluence point of the roundabout.
  • Hypothesis 2 The location of the merging point is at the intersection of the curve that enters the roundabout from the intersection and the ring road around the island.
  • Hypothesis 2 Hypothesis of target terminal similarity, including Hypothesis 3, Hypothesis 4 and Hypothesis 5.
  • Hypothesis 3 The motion state of the target terminal in the blind zone is similar to the motion state of the first terminal to a certain extent.
  • Hypothesis 4 The movement state of the target terminal in the blind zone is similar to the movement state of at least one second terminal around the first terminal.
  • a terminal satisfying the following conditions around the first terminal may be determined as the at least one second terminal:
  • the present application obtains the distance between the terminals surrounding the first terminal and the first terminal, the method of obtaining the ring road where the terminals surrounding the first terminal are located, and obtaining the distance between the first terminal and the blind spot detection device.
  • the method of similarity between the pre-traveling routes of the surrounding terminals and the first pre-traveling route is not limited, for example, the distance between the terminals around the first terminal and the first terminal may be obtained by measuring with a radar or a camera.
  • the wireless communication device may be used to obtain location information of other terminals around the first terminal, where the location information indicates the ring road where the other terminals are located.
  • Figure 8 and Figure 9 show the schematic diagram of the roundabout provided by the embodiment of the present application, as shown in Figure 8 and Figure 9, V1 is the first terminal, R11, R12, R21 and R22 are the first 4 second terminals of the terminal.
  • R11 and R12 are located at ring road 1 inside the ring road 2 where the first terminal is located (also referred to as inner ring road terminal)
  • R21 and R22 are located at ring road 3 outside the ring road 2 where the first terminal is located (also referred to as inner ring road terminal).
  • the distance between R11, R12, R21 and R22 and V1 is less than the above-mentioned first distance threshold, and the distance between the pre-travel path of R11, R12, R21 and R22 and the first pre-travel path of V1
  • the similarity of is greater than the above-mentioned first similarity threshold.
  • Hypothesis 5 The closer the distance between the target terminal in the blind zone and the second terminal is, the greater the similarity between the motion states of the two is.
  • the blind spot detection device before the blind spot detection device determines terminal information of target terminals that may exist in the blind spot, the blind spot detection device first needs to determine whether the at least one second terminal will cut in based on the pre-travel path of the at least one second terminal on the first pre-travel route to the first terminal; and based on the estimation result, determine the main factors that may currently cause danger to the first terminal.
  • the blind spot detection device determines that one or more second terminals among the at least one second terminal will cut into the first pre-travel path, that is, the main factor causing danger to the first terminal is that the first terminal will cut into to the second terminal on the first pre-traveling route, at this moment, the blind spot detection device will preferentially determine whether the above-mentioned second terminal to be cut in will cause danger to the first terminal (the processing of the embodiment of the present application in this case method will not be described in detail).
  • the blind spot detection device determines that none of the at least one reference terminal will cut into the first pre-travel route, that is, the main factor causing danger to the first terminal is the target terminal existing in the blind spot, then the blind spot detection device can pass The method described below determines the terminal information of the target terminal existing in the blind area; and estimates whether the target terminal will pose a danger to the first terminal based on the terminal information.
  • the blind spot detection device may determine the target driving speed of the target terminal based on the second driving speed of at least one second terminal and the first driving speed.
  • the target travel speed V target of the above-mentioned target terminal can be determined by the following formula (6):
  • min(a, b) means to find the minimum value of a and b
  • V self means the first driving speed
  • w self means the weight of the first terminal
  • n 1 means the content of the at least one second terminal
  • the number of ring road terminals V in represents the second travel speed of the inner ring road terminal
  • win represents the weight of the inner ring road terminal
  • n 2 represents the number of outer ring road terminals in the at least one second terminal
  • V out represents the second driving speed of the outer ring road terminal
  • w out represents the weight of the outer ring road terminal
  • V rode represents the maximum speed limit of the roundabout.
  • the present application does not limit the manner in which the blind spot detection device obtains the second driving speed of each second terminal, for example, it may be obtained through measurement by the above-mentioned sensor system 120 .
  • the distance between the target terminal and the second boundary of the blind zone may be determined as the target distance of the target terminal
  • the first boundary is the boundary between the blind area and the visible area.
  • the above-mentioned first boundary may be shown as the first boundary in FIG. 8
  • the above-mentioned second boundary may be shown as the second boundary in FIG. 8
  • the position of the target terminal is shown as T1 in FIG. 8 .
  • the blind spot detection device may determine the target based on the second driving speed of the at least one second terminal, the reference driving speed of the reference terminal at the first merging point, and the first driving speed The target travel speed of the terminal.
  • the target travel speed V target of the above-mentioned target terminal can be determined by the following formula (7):
  • min(a, b) means to find the minimum value of a and b
  • V self means the first driving speed
  • w self means the weight of the first terminal
  • n 1 means the content of the at least one second terminal
  • the number of ring road terminals V in represents the second travel speed of the inner ring road terminal
  • win represents the weight of the inner ring road terminal
  • n 2 represents the number of outer ring road terminals in the at least one second terminal
  • V out Indicates the second driving speed of the outer ring road terminal
  • w out indicates the weight of the outer ring road terminal
  • w ref indicates the weight of the reference terminal
  • V rode indicates the maximum speed limit of the roundabout
  • V rode indicates the maximum speed limit of the roundabout speed.
  • the weight of the reference terminal at the first merging point depends on the distance between the first merging point and the first terminal, and the shorter the distance is, the reference driving speed of the reference terminal at the first merging point is The greater the impact on the target driving speed of the target terminal, that is, the shorter the distance, the greater the weight of the reference terminal.
  • the above-mentioned reference driving speed of the reference terminal should be lower than the maximum speed limit of the roundabout, and this application does not limit the specific size of the reference driving speed of the reference terminal.
  • the reference speed can be determined in combination with the road conditions, weather, time and other factors where the first terminal is located. This application does not limit the method of determining the reference speed.
  • the blind spot detection device determines the target driving speed of the target terminal, it can further determine the target distance of the target terminal.
  • a minimum safe vehicle distance needs to be maintained between the target terminal and the reference terminal, and the target distance can be further determined on the basis of ensuring the aforementioned safe vehicle distance.
  • the blind spot detection device may determine a safe vehicle distance between the reference terminal and the target terminal based on the target driving speed and the reference speed of the reference terminal; The target distance is determined with reference to the first distance between terminals and the safe vehicle distance.
  • the above-mentioned safe vehicle distance D tar-ref can be determined by the following formula (8):
  • V target represents the target driving speed
  • V cross represents the reference driving speed
  • THW represents the preset following time
  • TTC represents the preset collision time
  • the above-mentioned target distance D tar can be determined by the following formula (9):
  • D 1-ref represents the first distance
  • D tar-ref represents the safe vehicle distance
  • D sensor represents the distance between the first boundary and the first terminal
  • D min represents the distance between the second boundary and the first distance between terminals.
  • the present application does not limit the manner in which the blind spot detection device obtains the above-mentioned D sensor , D min , and D 1-ref , for example, they may be measured by the above-mentioned sensing system 120 .
  • the above-mentioned first boundary can be shown as the first boundary in Figure 9, that is, the above-mentioned D sensor (hereinafter also referred to as the maximum visible distance) represents the distance between the first terminal and the first boundary in Figure 9 .
  • the above-mentioned second boundary may be shown as the second boundary in FIG. 9 , that is, the above-mentioned D min (hereinafter also referred to as the maximum blind zone distance) represents the distance between the first terminal and the second boundary in FIG. 9 .
  • the position of the target terminal is shown as T1 in FIG. 8; if the distance difference is greater than the maximum perceived distance If it is less than or equal to the maximum blind zone distance, the position of the target terminal is shown as T2 in FIG. 8 ; if the distance difference is greater than the maximum blind zone distance, the position of the target terminal is shown as T3 in FIG. 8 .
  • the blind spot detection device determines the target driving speed of the target terminal in case 3
  • the third terminal also needs to be considered (that is, the terminal of historical concern above) the impact on the target terminal.
  • the blind spot detection device may determine based on the second driving speed of the at least one second terminal, the first driving speed, and the third driving speed when the third terminal leaves the visible area The target travel speed of the target terminal.
  • the target travel speed V target of the above-mentioned target terminal can be determined by the following formula (10):
  • min(a, b) means to find the minimum value of a and b
  • V self means the first driving speed
  • w self means the weight of the first terminal
  • n 1 means the content of the at least one second terminal
  • the number of ring road terminals V in represents the second travel speed of the inner ring road terminal
  • win represents the weight of the inner ring road terminal
  • n 2 represents the number of outer ring road terminals in the at least one second terminal
  • V out Represents the second travel speed of the outer ring road terminal
  • w out represents the weight of the outer ring road terminal
  • V pre represents the third travel speed of the third terminal
  • w pre represents the weight of the third terminal
  • V rode represents the The maximum speed limit around the island.
  • the blind spot detection device determines the target driving speed of the target terminal in case 4, in addition to considering the influence of at least one second terminal and the reference terminal on the target terminal in case 2 above, it also needs to consider The impact of the third terminal (that is, the terminal concerned in the history above) on the target terminal.
  • the blind spot detection device may be based on the second driving speed of the at least one second terminal, the first driving speed, the reference driving speed of the reference terminal, and the third terminal at the first moment The third driving speed of the target terminal is determined.
  • the target travel speed V target of the above-mentioned target terminal can be determined by the following formula (11):
  • min(a, b) means to find the minimum value of a and b
  • V self means the first driving speed
  • w self means the weight of the first terminal
  • n 1 means the content of the at least one second terminal
  • the number of ring road terminals V in represents the second travel speed of the inner ring road terminal
  • win represents the weight of the inner ring road terminal
  • n 2 represents the number of outer ring road terminals in the at least one second terminal
  • V out represents the second travel speed of the outer ring road terminal
  • w out represents the weight of the outer ring road terminal
  • V ref represents the reference travel speed of the reference terminal
  • w ref represents the weight of the reference terminal
  • V pre represents the weight of the third terminal
  • the third driving speed, w pre represents the weight of the third terminal
  • V rode represents the maximum speed limit of the roundabout.
  • w pre f(t miss ) described in case 3 and case 4, and t now -t miss ⁇ T, wherein t now represents the current moment, and t miss represents that the third terminal leaves the available
  • the moment of the viewing area that is, the first moment
  • t now -t miss indicates the third time period for the third terminal to leave the viewing area
  • T is a preset time length threshold.
  • the above-mentioned third driving speed V pre refers to the driving speed when the third terminal leaves the visible area (ie, the first moment), and the weight w pre of the third driving speed depends on the length of the third duration.
  • the weight of the third driving speed decreases as the third duration increases, and when the third duration is greater than the duration threshold, the blind spot detection device will no longer consider the third The impact of the terminal on the target terminal, at this time, case 3 becomes the above case 1.
  • the blind spot detection device may further determine the target distance after determining the target driving speed of the target terminal.
  • the blind spot detection device may determine a second distance between the target terminal and the first boundary based on the third driving speed, the first moment, and the current moment; A third distance between a boundary and a second boundary and a distance difference between the second distance are determined as the target distance.
  • the above-mentioned target distance Dtar can be determined by the following formula (12):
  • D 3 represents the third distance between the first boundary and the second boundary of the blind area
  • D 2 represents the second distance between the target terminal and the first boundary
  • t now represents the current moment
  • t miss represents the When the third terminal leaves the visible area
  • V pre represents a third driving speed of the third terminal.
  • the blind spot detection device may issue a danger warning to the first terminal based on the terminal information.
  • the blind spot detection device may determine a first duration for the first terminal to leave the blind spot based on the distance between the second boundary and the first terminal and the first driving speed; and Based on the target distance and the target driving speed, determine the second duration for the target terminal to leave the blind zone; if the time difference between the first duration and the second duration is less than the preset safety time threshold, the first The terminal gives a danger alarm.
  • the blind area detection method provided by the embodiment of the present application is described above with reference to FIG. 6 to FIG. 9 , and the blind area detection device for performing the above blind area detection method will be continued below.
  • FIG. 10 shows a schematic block diagram of a blind spot detection device 300 provided by an embodiment of the present application, and the device 300 may be used in the above-mentioned vehicle 100 .
  • the device 300 may include an obtaining device 301 and a determining unit 302; wherein,
  • the obtaining unit 301 is used to obtain the first pre-travel route of the first terminal in the roundabout, the first travel speed, and the number of roundabout feature points included on the first pre-travel route.
  • the roundabout feature points include merging points, branch points, and points and conflict points;
  • the determining unit 302 is configured to determine the blind area of the first terminal based on the driving direction of the first pre-traveling route, the number of roundabout feature points included on the first pre-traveling route, and the first driving speed.
  • the driving directions mentioned above include turning left, turning right, going straight or making a U-turn.
  • the number of roundabout feature points included in the first pre-traveling route is based on the number of roundabouts and intersections included in the roundabout, the first pre-traveling route and the first The driving speed is fixed.
  • the determining unit 302 is specifically configured to determine the safe driving of the first terminal based on the driving direction, the number of roundabout feature points included on the first pre-driving route, and the first driving speed. distance; based on the safe driving distance, determine the safe driving area of the first terminal; overlap the area in the safe driving area except the visible area of the first terminal with the first pre-traveling route The area is determined as the blind area.
  • the determining unit 302 is specifically configured to determine the maximum deceleration of the first terminal; based on the number of roundabout feature points included on the first pre-travel route, the impact of the merging point on the maximum deceleration the influence coefficient of the diverging point on the maximum deceleration, the influence coefficient of the conflict point on the maximum deceleration and the influence coefficient of the driving direction on the maximum deceleration, determine the maximum The deceleration reduction factor; based on the reduction factor, the maximum deceleration is reduced to obtain the reduced maximum deceleration; based on the reduced maximum deceleration and the first driving speed, the safe driving is determined distance.
  • the determining unit 302 is specifically configured to: determine the safe driving distance D safe through the above formulas (1)-(5).
  • the device further includes an alarm unit 303;
  • the determining unit 302 is also configured to determine terminal information of a target terminal existing in the blind area, and the terminal information includes a target driving speed and a target distance of the target terminal , the target distance is the distance between the target terminal and the second boundary of the blind zone, and the second boundary is the boundary of the blind zone away from the target terminal in the direction of the first pre-traveling path ;
  • the warning unit 303 is configured to give a danger warning to the first terminal based on the terminal information.
  • the obtaining unit 301 is further configured to obtain the second driving speed of at least one second terminal located on a different ring road from the first terminal, wherein the at least one second terminal is different from the first terminal The distance between them is less than or equal to a preset first distance threshold, and the similarity between the pre-travel route of the at least one second terminal and the first pre-travel route is greater than the first similarity threshold; the determining unit 302 Specifically, it is used for determining the target driving speed based on the second driving speed of the at least one second terminal and the first driving speed.
  • the determining unit 302 is specifically configured to: determine the target driving speed V target through the above formula (6).
  • the target distance is the distance between the target terminal and the second boundary of the blind zone when the target terminal is located at the first boundary of the blind zone, where the first boundary is the A boundary between the blind area and the visible area, the second boundary is a boundary where the blind area is away from the target terminal in the direction of the first pre-traveling path.
  • the obtaining unit 301 is further configured to obtain a reference driving speed of a reference terminal at the merging point; the determining unit 302 is specifically configured to A second driving speed of the second terminal, the first driving speed and the reference driving speed determine the target driving speed.
  • the determining unit 302 is specifically configured to: determine the target driving speed V target through the above formula (7).
  • the determining unit 302 is further configured to: determine the target distance D tar through the above formula (8) and formula (9).
  • the obtaining unit 301 is further configured to obtain a third driving speed of the third terminal at the first moment; the determining unit 302 is specifically configured to be based on the second driving speed of the at least one second terminal , the first driving speed, the third driving speed and the first moment to determine the target driving speed.
  • the determining unit 302 is specifically configured to: include: determining the target driving speed V target through the above formula (10).
  • the obtaining unit 301 is further configured to obtain a reference driving speed of a reference terminal at the merging point;
  • the determining unit 302 is further configured to The target driving speed is determined by the second driving speed of the second terminal, the first driving speed, the third driving speed, the first moment and the reference driving speed.
  • the determining unit 302 is specifically configured to: determine the target driving speed V target through the above formula (11).
  • the determining unit 302 is specifically configured to: determine the target distance D tar through the above formula (12).
  • the warning unit 303 is specifically configured to: determine that the first terminal leaves the blind zone based on the distance between the second boundary of the blind zone and the first terminal and the first driving speed
  • the second boundary is the boundary of the blind zone away from the target terminal in the direction of the first pre-traveling route; based on the target distance and the target driving speed, determine the target terminal A second time period for leaving the blind zone; if the time difference between the first time period and the second time period is less than a preset safety time threshold, a danger warning is issued to the first terminal.
  • the apparatus 300 may include a processor, a memory and a communication module.
  • the processor can control and manage the actions of the device 300, for example, it can be used to support the device 300 to execute the steps performed by the above-mentioned units.
  • the memory may be used for the support device 300 to store program codes, data, and the like.
  • the communication module can be used for communication between the apparatus 300 and other devices.
  • the processor may realize or execute various exemplary logic modules described in conjunction with the disclosure of the present application.
  • the processor can also be a combination of computing functions, such as a combination of one or more microprocessors, such as a central processing unit (Central Processing Unit, CPU), and other general-purpose processors, digital signal processors (Digital Signal Processor) Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor, a microcontroller, or any conventional processor or the like.
  • the memory mentioned in the embodiments of the present application may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories.
  • the non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electronically programmable Erase Programmable Read-Only Memory (Electrically EPROM, EEPROM) or Flash.
  • the volatile memory can be Random Access Memory (RAM), which acts as external cache memory.
  • RAM Static Random Access Memory
  • SRAM Static Random Access Memory
  • DRAM Dynamic Random Access Memory
  • Synchronous Dynamic Random Access Memory Synchronous Dynamic Random Access Memory
  • SDRAM double data rate synchronous dynamic random access memory
  • Double Data Rate SDRAM, DDR SDRAM enhanced synchronous dynamic random access memory
  • Enhanced SDRAM, ESDRAM synchronous connection dynamic random access memory
  • Synchlink DRAM, SLDRAM Direct Memory Bus Random Access Memory
  • Direct Rambus RAM Direct Rambus RAM
  • the communication module may be a device that interacts with other electronic devices, such as a radio frequency circuit, a Bluetooth chip, and a Wi-Fi chip.
  • the embodiment of the present application also provides a computer-readable storage medium, which stores computer instructions, and when the computer instructions are run on the computer, the computer executes the above-mentioned related method steps to realize the blind area in the above-mentioned embodiments Detection method.
  • An embodiment of the present application also provides a computer program product, which, when running on a computer, causes the computer to execute the above related steps, so as to implement the blind spot detection method in the above embodiment.
  • an embodiment of the present application also provides a device, which may specifically be a chip, a component, or a module, and the device may include a coupled processor and a memory; wherein the memory is used to store computer-executable instructions, and when the device is running, the processing The device can execute the computer-executable instructions stored in the memory, so that the chip executes the above blind area detection method.
  • An embodiment of the present application also provides a terminal, which includes the blind spot detection device or the above-mentioned chip as shown in FIG. 10 , so that the terminal implements the blind spot detection method described above.
  • the terminal can be a vehicle or a smart device.
  • the terminal can be a vehicle (such as an unmanned vehicle, a smart vehicle, an electric vehicle, a digital vehicle, etc.), a drone, a rail car, a bicycle, a traffic light, etc.
  • the terminal can be a mobile phone, a tablet computer, a notebook computer, a personal digital assistant, a sales terminal, a vehicle-mounted computer, an augmented reality device, a virtual reality, a wearable device, a vehicle-mounted terminal, and the like.
  • the processor, computer-readable storage medium, computer program product, chip or terminal provided in the embodiments of the present application are all used to execute the corresponding method provided above, therefore, the beneficial effects it can achieve can refer to the above The beneficial effects of the provided corresponding method will not be repeated here.
  • At least one of in the embodiments of the present application means one of the listed items or any combination thereof, for example, “at least one of A, B and C” means: alone There are A, B alone, C alone, A and B at the same time, A and C at the same time, B and C at the same time, and A, B, and C at the same time.
  • all or part may be implemented by software, hardware, firmware or other arbitrary combinations.
  • software When implemented using software, it may be implemented in whole or in part in the form of a computer program product.
  • the computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part.
  • the computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.).
  • the computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device including a server, a data center, and the like integrated with one or more available media.
  • the available medium may be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a digital video disc (digital video disc, DVD)), or a semiconductor medium (such as a solid state disk (solid state disk, SSD)), etc. .
  • a magnetic medium such as a floppy disk, a hard disk, a magnetic tape
  • an optical medium such as a digital video disc (digital video disc, DVD)
  • a semiconductor medium such as a solid state disk (solid state disk, SSD)
  • the disclosed systems, devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (read-only memory, ROM), random access memory (random access memory, RAM), magnetic disk or optical disc and other media that can store program codes. .

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Abstract

Procédé et dispositif de détection d'angle mort, utilisés en relation avec un capteur, pour une conduite automatique ou une conduite auxiliaire. Le procédé consiste à : obtenir un premier trajet de préconduite d'un premier terminal dans un rond-point, le nombre de points caractéristiques de rond-point compris dans le premier trajet de préconduite, et une première vitesse de conduite, le point caractéristique de rond-point comprenant un point de confluence, un point divergent et un point de conflit (S201) ; et déterminer un angle mort du premier terminal sur la base de la direction de conduite du premier trajet de préconduite, du nombre de points caractéristiques de rond-point compris dans le premier trajet de préconduite, et de la première vitesse de conduite, la direction de conduite comprenant un virage à gauche, un virage à droite, une conduite en ligne droite, ou un demi-tour (S202). Le procédé peut être appliqué à un Internet des véhicules, tel qu'un système de véhicule à tout (V2X), un système de véhicule à évolution à long terme (LTE-V) à communication entre véhicules et un système de véhicule à véhicule (V2V), peut améliorer la précision de détection d'angle mort, et améliore la sécurité de la conduite automatique ou de la conduite auxiliaire par amélioration de la précision de détection d'angle mort de véhicule.
PCT/CN2021/101638 2021-06-22 2021-06-22 Procédé et dispositif de détection d'angle mort WO2022266858A1 (fr)

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CN112735134A (zh) * 2020-12-30 2021-04-30 惠州华阳通用电子有限公司 一种自动驾驶车辆的多车道环岛进入方法
CN112789207A (zh) * 2021-01-08 2021-05-11 华为技术有限公司 一种盲区告警区域的确定方法及装置

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CN116486655A (zh) * 2023-05-06 2023-07-25 南京航空航天大学 一种城市低空无人机航路构型设计方法
CN116486655B (zh) * 2023-05-06 2024-03-08 南京航空航天大学 一种城市低空无人机航路构型设计方法

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